US11198206B2 - Automated seaming apparatus and method - Google Patents
Automated seaming apparatus and method Download PDFInfo
- Publication number
- US11198206B2 US11198206B2 US15/935,364 US201815935364A US11198206B2 US 11198206 B2 US11198206 B2 US 11198206B2 US 201815935364 A US201815935364 A US 201815935364A US 11198206 B2 US11198206 B2 US 11198206B2
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- United States
- Prior art keywords
- seaming
- platform
- robot arm
- lite
- head
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
- B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
- B24B9/10—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass of plate glass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Definitions
- the present invention relates in general to the glass manufacturing field and, in particular, to an automated glass seaming system and a method for seaming edges of glass sheets.
- Sheet glass manufacturing generally requires three steps; melting of raw material, forming the melted glass into the proper shape, i.e., glass sheets otherwise known as lites, and finally shaping the glass sheets into a final shape which is satisfactory for the user of the glass sheets.
- the final shaping step includes edging, or seaming, the glass sheets to strengthen the glass sheets and make the glass sheet more manageable for handling operations. Seaming a glass sheet, otherwise known as arissing, involves removing the sharp edges of glass sheets by grinding them away. Seaming the glass sheet makes it less dangerous to handle and also reduces the number of microcracks formed if the glass sheet is later tempered.
- the discussion herein relates to the process of seaming of glass sheets.
- Glass sheet seaming is typically done one glass sheet or lite at a time by utilizing a grinding wheel which has groove(s) formed therein.
- the formed groove(s) create a shape on the edge of the glass sheet that mirrors the groove.
- particulates e.g., chips, glass dust and/or particles
- particulates created during the seaming process can get imbedded within the grinding wheel's grooves which can limit the effectiveness of the grinding wheel as well as potentially damaging the glass sheet itself. It would be desirable to reduce the amount of debris exposed to the seaming head and glass sheet in order to increase its effectiveness and reduce defective product.
- FIG. 1 illustrates a seaming assembly line according to a preferred embodiment of the invention.
- FIG. 2 is a perspective view of a load conveyer forming a part of the seaming assembly line.
- FIG. 3 illustrates a perspective view of the seaming station according to a preferred embodiment of the invention.
- FIG. 4 illustrates an operational platform located in an enclosure of the seaming station.
- FIG. 5 illustrates a lifting device according to a preferred embodiment of the invention.
- FIGS. 6 and 7 illustrate various processing scenarios possible at the seaming station.
- FIGS. 8 and 9 illustrate two scenarios of how the robot arm and their respective seaming head can operate.
- FIG. 10 is a perspective view of a robot arm with a seaming head coupled to its free end.
- FIG. 11 is a schematic of a seaming head according to a preferred embodiment of the invention.
- FIG. 12 is a photograph showing a perspective view of a seaming lead.
- FIG. 13 is a photograph of the belts vis-à-vis an edge of a lite.
- FIG. 1 illustrates a seaming assembly line 10 according to a preferred embodiment of the invention.
- the assembly line 10 includes a seaming station 12 , as well as pre-seaming stations 22 , 24 . It will be appreciated by those of ordinary skill in the art that the number of pre-seaming stations may be increased or eliminated and post-seaming stations may be incorporated into the assembly line as well and the embodiments of the invention are not limited in this regard.
- the assembly line incorporates a transport mechanism 14 that transports glass lites to the seaming station 12 preferably after undergoing some pre-seaming operations.
- the transport mechanism 14 may be a single conveyor system or it may be formed by multiple conveyor systems including a load conveyor 16 , a pre-inspection conveyor 18 and a post-inspection conveyor 20 .
- all or parts of the transport mechanism 14 may be a dual line conveyor including a first conveyor and a second conveyor parallel with each other and running side-by-side, as will be described in more detail hereafter.
- the dual line conveyor may form the load conveyor 16 , the pre-inspection conveyor 18 and the post-inspection conveyor 20 or it may only form certain ones of the conveyors, 16 , 18 , 20 .
- Each conveyor is preferably independently operable and controllable, although they need not be, and each is controlled by encoders and geared inverter drives and driven by servomotors for precise positioning.
- encoders and geared inverter drives and driven by servomotors for precise positioning.
- servomotors for precise positioning.
- transport mechanism which will be described in greater detail hereinafter.
- FIG. 2 is a perspective view of a load conveyor 16 forming part of the seaming assembly line according to a preferred embodiment of the invention.
- Unfinished glass sheets are loaded onto the load conveyor 16 .
- the load conveyor includes a plurality of conveyor bands 26 that run between series of pop-up ball rollers 28 as is conventional in the glass processing industry.
- an optional auto-logo station 22 downstream of where the lites are loaded onto the load conveyor 16 is an optional auto-logo station 22 which can print a logo, such as a company's name, or ANSI tempering logo, on the lite passing underneath it. Of course other or additional types of information may be printed on the lite such as finished product designation.
- the logo is printed using a laser with a marking head as is well known.
- One such laser and marking head are commercially available from Synrad, Inc. of Washington state, i.e., the FSV30SFE laser with a FHFL 50-200 marking head.
- the laser and marking head are mounted on a gantry so that they can be moved along the width of the transport mechanism as needed.
- an inspection station 24 Downstream of the optional auto-logo station 22 is an inspection station 24 that preferably has an in-line camera system (not shown) to plot the shape, size and position of each lite on the transport mechanism as it passes underneath the inspection system and this data is transformed to code which steers at least one of the robot arms during the seaming process.
- the vision system for robot path generation is a Teledyne-Dalsa line scan camera with one red LED line light at a wavelength of 630 nm.
- the inspection system downloads the position and orientation information to a controller for controlling the operation of robot arms and associated seaming heads in the seaming station 12 as will be described in further detail hereinafter.
- the seaming station 12 Downstream of the inspection station 24 is the seaming station 12 which will be described in greater detail hereinafter and, downstream of that, is a post-seaming transport which may deliver the seamed glass to post-processing stations such as a tempering oven, for example.
- FIG. 3 illustrates a perspective view of a seaming station according to a preferred embodiment of the present invention. Details of the seaming station will now be described.
- the seaming station is preferably enclosed around its perimeter by a safety shield such as Plexiglas windows 29 to create a guarded, seaming zone.
- the lite or lites are transported through an opening 31 in the enclosure.
- a gantry 30 Located within the enclosure, is a gantry 30 that straddles the transport mechanism.
- a robot arms 32 , 34 Suspended from the top of the gantry 30 are two robot arms 32 , 34 . Coupled to each free end of the robot arms 32 , 34 is a seaming head 36 , 38 (see FIG. 10 ) that process the edges of the lites which will be described in greater detail hereinafter.
- the robot arms Preferably have six axis of rotation.
- Such a robot arm is commercially available from Fanuc of Yamanashi, Japan under model number R-1000iA/
- FIG. 4 illustrates an operational platform located in the enclosure 29 of the seaming station 12 .
- it includes two, side-by-side transport mechanisms 40 , 42 , i.e., conveyors, that can be operated together to create a large transport mechanism that expands the entire width, w, of the seaming station or they can be operated separately from one another to form two individual transport mechanisms.
- the transport mechanism is divided preferably into four quadrants, Q 1 -Q 4 , as shown in FIG. 4 .
- Each quadrant includes an entrance 44 and an exit 46 and a longitudinal axis, “l”, coupling the entrance to the exit.
- Each quadrant also has a lifting device (see FIG. 5 ) initially located underneath the transport mechanism when the lifting device is deactivated.
- FIG. 5 illustrates a lifting device 50 .
- the lifting device 50 includes a matrix of vacuum cups 52 and support pins 54 which can be raised above the transport mechanism when the lifting device 50 is activated so that a lite that is positioned thereover may be lifted above the transport mechanism so that it may be seamed by at least one of the seaming heads.
- each quadrant have a total of 70 vacuum cups and 112 support pins.
- the lites are lifted about 8 inches above the transport mechanism. Before the lifting device 50 is fully raised, a vacuum source is applied to the vacuum cups 52 once they come into contact with the lite to keep the lite secured to the lifting device 50 during lifting operation as well as during seaming operation.
- the division of the transport mechanism into quadrants allows for multiple and different sizes of lites to be processed simultaneously, sequentially, or both as will be described in detail hereinafter.
- FIGS. 6 and 7 illustrate examples of various processing scenarios possible at the seaming station.
- FIG. 6 illustrates one scenario where a large lite 60 is located on quadrants one and two, Q 1 and Q 2 , a smaller lite 62 is located on quadrant three Q 3 and a smaller lite 64 is located on quadrant four Q 4 . While the lites shown on quadrants three and four are shown as the same size, they do not need to be. For the larger lite 60 located on quadrants one and two, the lifting devices in those quadrants are simultaneously activated to lift the lite 60 above the transport mechanism.
- the lite 60 can be either seamed by one of the seaming heads using one robot arm or it may be simultaneously seamed by both of the seaming heads to speed up the processing time.
- each robot arm moves that seaming head 360 degrees around the perimeter of the lite. If two seaming heads are used, each robot arm moves its respective seaming head around half of the perimeter of the lite so that the entire perimeter is seamed.
- the lites 62 , 64 on quadrants three and four may be conveyed into the seaming station at the same time as the larger lite 60 or they may be conveyed into the seaming station as the larger lite 60 is being seamed or after it has been seamed. While the larger lite 60 is being seamed, the lifting devices in quadrants three and four are not activated so the lites 62 , 64 in those quadrants remain on the transport mechanism while the larger lite 60 is elevated above the transport mechanism.
- the larger lite 60 can be lowered and either remain on the transport mechanism or conveyed out of the seaming station 12 .
- the lifting devices of the third and fourth quadrants will either lift the smaller lites simultaneously if the distance is great enough and one robot arm seaming head and its associated seaming head will be used to seam one lite while the other robot arm and its associated seaming head is used to seam the other lite.
- either quadrant three or four will lift its lite and use one robot arm to seam that lite and, once it is seamed, that lifting device is deactivate to lower the lite while the other lite is lifted by its associated lifting device. Once the smaller lites are seamed, they can be conveyed out together.
- FIG. 7 illustrates a different scenario where a very large lite 66 presents itself at the seaming station.
- the large lite 66 is transported on both transport mechanisms and, in this particular case, occupies all four quadrants, Q 1 -Q 4 .
- the lifting devices of all the quadrants are activated to simultaneously lift the large lite above the transport mechanism so that it can be seamed.
- both robot arms are activated along with both seaming heads to seam the lite.
- Each seaming head seams a different 180 degrees around the perimeter of the lite.
- all of the lifting devices lower the lite back onto the transport mechanism so that it can be transported out of the seaming station.
- FIGS. 8 and 9 illustrate the two scenarios of how the robot arms (along with their respective seaming heads) can operate.
- two lites are present at the seaming station and each robot arm (along with its respective seaming head) is operated independently of one another to seam its own lite so that two lites are processed simultaneously assuming there is enough distance between the lites.
- one lite is present at the seaming station and both robot arms work on the lite simultaneously to seam different portions of the lite.
- the large lite may occupy all four quadrants, Q 1 -Q 4 , of the seaming station as shown in FIG.
- each robot arm and seaming heads may occupy only two quadrants such as quadrants Q 1 and Q 2 or Q 2 and Q 4 , for example.
- FIG. 10 is a perspective view of a robot arm 32 with a seaming head 36 coupled to its free end.
- the robot arm 32 is commercially available from Fanuc of Yamanishi, Japan as Model No. R-1000iA/80F.
- the robot arm preferably has six axis of rotation to allow it to move the seaming head around the perimeter edges of a lite.
- FIG. 11 is a schematic of a seaming head 36 according to a preferred embodiment of the invention that is attached to the free end of a robot arm at point 70 .
- the seaming head has an aperture 72 that exposes a pair of abrasive belts (see FIGS. 74, 76, 12 and 13 ) each rotating around a pair of pulleys.
- the seaming head is positioned by the robot arm so that the edge of the lite is located in the aperture 72 so that the upper and lower edges of the lite are seamed by one of the respective belts, as the seaming head travels around the perimeter of the lite.
- a controller receives positioning information from the inspection system 24 .
- FIG. 12 is a photograph showing a perspective view of the seaming head showing the aperture 72 and the pair of belts 74 and 76 .
- FIG. 13 is an expanded view of the grinding belts 74 , 76 in the seaming head as viewed through the aperture 72 .
- Each seaming head preferably has two grinding belts 74 , 76 with each grinding belt revolving around a pair of pulleys. The belts are exposed in an aperture or window 72 of the seaming head.
- the grinding belts 74 , 76 are arranged so that one belt 74 will grind an upper edge of a lite while the other belt 76 grinds a lower edge of the lite.
- FIG. 13 is a photograph of the belts vis-à-vis an edge of a lite.
- the belts may be made using either diamond or SIC silicone carbide/carborundum as is well known to those of ordinary skill in the art.
- One example of such a commercially available belt is Norton's Norex U466 belt.
- the seaming head may also be provided with water nozzles for wet seaming.
- Each seaming head is also equipped with a vacuum port to couple the interior of the seaming head to a vacuum system.
- a port 80 as shown in FIG. 11 is located on the seaming head to which a vacuum hose may be coupled.
- the vacuum is activated so that debris created by the grinding belts grinding the lite are suctioned out of the seaming head. This helps maintain the integrity of the belts and quadrants below the seaming head.
Abstract
Description
Claims (17)
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US15/935,364 US11198206B2 (en) | 2015-04-16 | 2018-03-26 | Automated seaming apparatus and method |
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US14/688,577 US9925634B2 (en) | 2015-04-16 | 2015-04-16 | Automated seaming apparatus and method |
US15/935,364 US11198206B2 (en) | 2015-04-16 | 2018-03-26 | Automated seaming apparatus and method |
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US14/688,577 Continuation US9925634B2 (en) | 2015-04-16 | 2015-04-16 | Automated seaming apparatus and method |
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US11198206B2 true US11198206B2 (en) | 2021-12-14 |
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US15/935,364 Active 2036-04-05 US11198206B2 (en) | 2015-04-16 | 2018-03-26 | Automated seaming apparatus and method |
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CN110625472B (en) * | 2019-09-24 | 2021-11-02 | 佛山市高明雅奇钢化玻璃有限公司 | Automatic glass edge grinding machine with circulating water cleaning system |
US11111086B2 (en) | 2019-11-11 | 2021-09-07 | Cardinal Ig Company | Glass stacking systems and methods |
US11536083B2 (en) * | 2020-05-22 | 2022-12-27 | Cardinal Ig Company | Automated spacer processing systems and methods |
CN112677023A (en) * | 2020-12-30 | 2021-04-20 | 厦门众欣金属制品有限公司 | Automatic mechanical arm type polishing machine for stainless steel tableware |
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WO2018233741A1 (en) | 2017-06-20 | 2018-12-27 | Grenzebach Maschinenbau Gmbh | Device and method for safely and quickly transferring new glass sheets from the production line to a transport vehicle |
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CN208979868U (en) | 2018-09-17 | 2019-06-14 | 格林策巴赫机械(嘉善)有限公司 | Glass rotating platform |
CN208979869U (en) | 2018-09-17 | 2019-06-14 | 格林策巴赫机械(嘉善)有限公司 | 180 ° of rotary stacking platforms |
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US9925634B2 (en) | 2018-03-27 |
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